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work on acados lateral MPC (#23558)

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* lat_mpc: make v_ego, rotation_radius parameters instead of states

* lat_mpc: remove rotation_radius argument, since it is part of the parameters

* lat_mpc: use qp_solver_cond_N = 1

slightly faster and in line with case study in Fig. 2/ 3 in Frison2016 - https://cdn.syscop.de/publications/Frison2016.pdf
An Efficient Implementation of Partial Condensing for Nonlinear Model Predictive Control

* adapt test_lateral_mpc to formulation with parameters

* lat_mpc: set parameters in reset() and copy values

* acados_ocp_solver_pyx: make options_set useable

* update ref

Co-authored-by: Willem Melching <willem.melching@gmail.com>
old-commit-hash: 06814748409bd8538edca1b2bcef66f15e1c3ab6
This commit is contained in:
Jonathan Frey
2022-01-18 18:49:48 +01:00
committed by GitHub
parent fac18e0148
commit 6f4c93238f
5 changed files with 31 additions and 24 deletions
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pyextra/acados_template/acados_ocp_solver_pyx.pyx
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